Kroos moved to the Santiago Bernabeu in 2014 from Bayern Munich and has made 344 appearances for Los Blancos in all competitions, scoring 25 goals and assisting 77.
The German midfielder has won two LaLiga titles, three Champions Leagues, two UEFA Super Cups and four FIFA Club World Cups since arriving in Spain, and has confirmed that he wishes to see the final days of his career out in Madrid.
"I want to finish my career here," Kroos said in an interview with RTVE. "My family and I are fine in Madrid, there is still a year and a half left [of this contract]."
The 32 year-old also spoke about this season's title race in LaLiga, with Madrid top of the league, four points ahead of second-placed Sevilla, adding: "We have to look for all the points in the league, there's still a lot left.
"At the moment the rival is Sevilla, and we have to fight for it until the end."
Kroos' team-mate Eden Hazard has had a difficult time since his big-money move to Madrid from Chelsea in 2019, but the Belgian has started to show shoots of form of late, scoring the winning goal in the dramatic 2-1 comeback win in extra time at Elche in the Copa del Rey.
"I believe in him," Kroos said of Hazard. "He has to do everything to return to being what he has always been – he can help us a lot."
The 2014 World Cup winner was also asked about another world champion, Paris Saint-Germain's Kylian Mbappe, who has been heavily linked with a move to Madrid when his contract expires at the end of the current season.
"It is difficult to know because everything depends on the situation of his contract," he added. "It does not surprise me that Madrid are trying to sign him because he is a top player. It is not a secret that Real Madrid want him.
"In my eight years here, many names have come up and only 20 per cent have arrived."